Collision-avoidance support device

• US 10,529,237 B2
• Filed: 11/25/2013
• Issued: 01/07/2020
• Est. Priority Date: 11/25/2013
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kamijo, Kentaro, Takahashi, Hiroyuki
• Primary Examiner(s): La, Anh V
• Application Number:
  US15/035,262
• Publication Number:
  US 20160293010A1
• Time in Patent Office: 2,234 Days
• Field of Search: 340435, 340436, 340903, 340461, 34042632
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

In a case where a relative velocity Vr decreases, a timing calculation unit of a collision-avoidance support ECU calculates a time T1 shorter than a time T2, as a time to a collision, using a distance D and the relative velocity Vr without using acceleration Gr. The timing calculation unit calculates a timing of a start of collision-avoidance support on the basis of the time T1. In a case where the relative velocity increases, the timing calculation unit calculates the time T2 shorter than the time T1, as a time to a collision, using the distance D, the relative velocity Vr and the acceleration Gr. The timing calculation unit calculates the timing of a start of collision-avoidance support on the basis of the time T2.

Claims

1. A collision-avoidance support device comprising:

a processor configured to;

determine whether an acceleration of a relative velocity of a host vehicle with respect to an object is above a predetermined acceleration threshold;

based on the acceleration of the relative velocity being determined to be below the predetermined acceleration threshold;

(i) calculate a first time to an expected collision between the host vehicle and the object, the first time being calculated by a first method using the relative velocity and a distance between the host vehicle and the object without using the acceleration of the relative velocity, and (ii) based on the first time reaching a predetermined timing threshold, start at least one collision-avoidance support function; and

based on the acceleration of the relative velocity being determined to be above the predetermined acceleration threshold;

(i) calculate a second time to the expected collision between the host vehicle and the object, the second time being calculated by a second method using the distance, the relative velocity and the acceleration of the relative velocity, and (ii) based on the second time reaching the predetermined timing threshold, start the at least one collision-avoidance support function.

2. The collision-avoidance support device according to claim 1, wherein the processor is further configured to:

when a ground speed of the host vehicle increases;

(i) calculate the first time, on the basis of the first method, regardless of whether the acceleration of the relative velocity is above the predetermined acceleration threshold, and (ii) based on the first time reaching the predetermined timing threshold, start the at least one collision-avoidance support function, the ground speed of the host vehicle being a speed of the host vehicle with respect to a surface of the ground.

3. The collision-avoidance support device according to claim 1, wherein the processor is further configured to at least one of:

after the first time has been calculated on the basis of the first method, set the predetermined acceleration threshold to increase;

or

after the second time has been calculated on the basis of the second method, set the predetermined acceleration threshold to decrease.

4. The collision-avoidance support device according to claim 2, wherein the processor is further configured to at least one of:

after the first time has been calculated on the basis of the first method, set the predetermined acceleration threshold to increase;

or

after the second time has been calculated on the basis of the second method, set the predetermined acceleration threshold to decrease.

5. The collision-avoidance support device according to claim 1, wherein the processor is configured to at least one of:

calculate the first time, where the distance is D, the relative velocity is Vr, and the first time is T1, based on the following Expression (1);

6. The collision-avoidance support device according to claim 2, wherein the processor is configured to at least one of:

calculate the first time, where the distance is D, the relative velocity is Vr, and the first time is T1, based on the following Expression (1);

7. The collision-avoidance support device according to claim 3, wherein the processor is configured to at least one of:

calculate the first time, where the distance is D, the relative velocity is Vr, and the first time is T1, based on the following Expression (1);

8. The collision-avoidance support device according to claim 4, wherein the processor is configured to at least one of:

calculate the first time, where the distance is D, the relative velocity is Vr, and the first time is T1, based on the following Expression (1);

9. The collision-avoidance support device according to claim 1, further comprising:

a laser radar that measures a position, a distance, a relative velocity and an acceleration of the relative velocity of the obstacle, which is an object in front of the host vehicle.

10. The collision-avoidance support device according to claim 1, further comprising:

an image sensor that captures an image of the object, which is an object in front of the host vehicle, and detects a state of the object.

11. The collision-avoidance support device according to claim 1, further comprising:

a vehicle speed sensor that detects a ground speed which is a speed of the host vehicle with respect to a surface of the ground, and an acceleration of the ground speed, from a rotational speed of a wheel axle of the host vehicle.

12. The collision-avoidance support device according to claim 1, wherein the at least one collision-avoidance support function includes at least one of:

a seat belt actuator increasing a tensile force of a seat belt, actuating a brake, extending an airbag, controlling output of an engine, controlling a steering angle of a steering wheel, giving a predetermined reactive force to the steering wheel or causing a warning regarding an expected collision to be displayed or audibly output to a driver.

13. The collision-avoidance support device according to claim 1, wherein the at least one collision-avoidance support function includes at least one of:

a seat belt actuator increasing a tensile force of a seat belt, actuating a brake, extending an airbag, controlling output of an engine, or controlling a steering angle of a steering wheel.

14. The collision-avoidance support device according to claim 1, wherein the predetermined acceleration threshold is zero.

15. The collision-avoidance support device according to claim 1, wherein the acceleration of the relative velocity is based on a difference between two relative velocities measured and an interval of measurement.

16. The collision-avoidance support device according to claim 1, wherein the object is a moving object in front of the host vehicle.